Oh man, that sucks. I'm so sorry to hear that.
I was going to suggest that you watch the you tube videos and then buy the correct fluid and new filters and start from scratch and do the job over to see what you have to work with.
If you have the technical skills and do the research, there's no reason you can't service this trans.... and you should service it regularly.
Ask some folks who have replaced failed expensive PTOs in Ford AWD vehicles that are supposed to be sealed/lifetime fluid how that worked out for them?
I do not reccomend flushing any auto that has a lot of miles on it/ never been serviced as that can cause a failure.
I do drain and refills. My wife's 16 equinox has a non serviceable, internal trans filter. To replace you have to split the case. Let your trans fluid go too long and get too dirty and plug that filter and the trans will be coming out for a rebuild. At 30k miles, the atf in her car was nearly black and she's not hard on it at all. These newer vehicles are hard on fluids due to increased operating temps to meet emissions standards. Yes, newer synthetic fluids are better than what we had years ago, but they still get beat up by all that heat.
I service all of my automatic transmissions every 30k and have had very few transmission issues over the years. Cheap insurance to me, considering what new automatic cost these days.
Yes, if you don't know what your doing don't touch it... but if you have the skill and knowledge, there's no reason not to.
Just my .02.